ConvexConcaveCollisionAlgorithm.h

/*Bullet Continuous Collision Detection and Physics LibraryCopyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/This software is provided 'as-is', without any express or implied warranty.In no event will the authors be held liable for any damages arising from the use of this software.Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.3. This notice may not be removed or altered from any source distribution.*/#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H#include "BroadphaseCollision/CollisionAlgorithm.h"#include "BroadphaseCollision/Dispatcher.h"#include "BroadphaseCollision/BroadphaseInterface.h"#include "CollisionShapes/TriangleCallback.h"#include "NarrowPhaseCollision/PersistentManifold.h"class Dispatcher;
#include "BroadphaseCollision/BroadphaseProxy.h"class BoxTriangleCallback : public TriangleCallback
{
BroadphaseProxy* m_boxProxy;
BroadphaseProxy m_triangleProxy;
SimdVector3 m_aabbMin;
SimdVector3 m_aabbMax ;
Dispatcher* m_dispatcher;
const DispatcherInfo* m_dispatchInfoPtr;
float m_collisionMarginTriangle;
public:
int m_triangleCount;
PersistentManifold* m_manifoldPtr;
BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
void SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo);
virtual ~BoxTriangleCallback();
virtualvoid ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex);
void ClearCache();
inlineconstSimdVector3& GetAabbMin() const{
return m_aabbMin;
}
inlineconstSimdVector3& GetAabbMax() const{
return m_aabbMax;
}
};
/// ConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.00071class ConvexConcaveCollisionAlgorithm : publicCollisionAlgorithm
{
BroadphaseProxy m_convex;
BroadphaseProxy m_concave;
BoxTriangleCallback m_boxTriangleCallback;
public:
ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
virtual ~ConvexConcaveCollisionAlgorithm();
virtualvoid ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
void ClearCache();
};
#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H